Mês: Maio 2015

After completing the client-server setup, the main focus is the navigation node where the problem now is how-to match the GPS data to the route generated by the planner. Because I don’t know exactly how this is supposed to work I’ve done some research in this field. There are some algorithms to do this and they are divided into three categories: Geometrical map matching, Topological map matching and Advanced map matching.

The communication between the client and the server has been implemented although no tests have been made therefore there is a good chance that it might not work. Improvements to the existing code will be made and possibly another client/server communication will be implemented. This will allow the user to input the desired destination.

This last two weeks were dedicated to finish the planning node and defining the final workflow of the whole system. The doubt now is to choose between using ROS messages and topics or use a ROS service.